Esempio n. 1
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     output.add([time, 'Oncoming', oncomPosition[0], oncomPosition[1],
                     oncomAngle, vOncom, accOncom])
     
     # switch lanes
     leadHeadway = calcHeadway(passPosition[0]-leadPosition[0]-5.8, vLead,
                               accLead)
     if time > parameters['tpr'] and passlane=='main' and overtakeNotComplete:
         sim.moveVehicle('Passing','overtaking')
     if passlane=='overtaking' and leadHeadway >= 1.:
             sim.moveVehicle('Passing','main')
             overtakeNotComplete = False
     # move vehicles
     vehicleLeft = 0
     vehicleLeft += sim.moveVehicleAlong('Passing', vPass*DT+currentAccPass/2*DT*DT)
     vehicleLeft += sim.moveVehicleAlong('Lead', vLead*DT+accLead/2*DT*DT)
     vehicleLeft += sim.moveVehicleAlong('Oncoming', vOncom*DT+accOncom/2*DT*DT)
     vPass += currentAccPass*DT
     vLead += accLead*DT
     vOncom += accOncom*DT
     
     time += DT
     sim.updateGUI()
     continueSim &= vehicleLeft == 0 # at least one vehicle exits sim
     continueSim &= time < 30. # shouldn't take this long
     continueSim &= (time <= parameters['tpr']+.1 or leadHeadway <= 1.1)
     #continueSim &= leadHeadway <= 1.4 # for better GUI
 
 sim.end()
 outputFile = os.path.realpath(outputFolder+'/'+str(simIndex+1)+'.csv')
 output.write(outputFile, restart=True)
 print simIndex
Esempio n. 2
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                                  vLead, accLead)
        if time > parameters[
                'tpr'] and passlane == 'main' and overtakeNotComplete:
            sim.moveVehicle('Passing', 'overtaking')
        if passlane == 'overtaking' and leadHeadway >= 1.:
            sim.moveVehicle('Passing', 'main')
            overtakeNotComplete = False
        # move vehicles
        vehicleLeft = 0
        vehicleLeft += sim.moveVehicleAlong(
            'Passing', vPass * DT + currentAccPass / 2 * DT * DT)
        vehicleLeft += sim.moveVehicleAlong('Lead',
                                            vLead * DT + accLead / 2 * DT * DT)
        vehicleLeft += sim.moveVehicleAlong(
            'Oncoming', vOncom * DT + accOncom / 2 * DT * DT)
        vPass += currentAccPass * DT
        vLead += accLead * DT
        vOncom += accOncom * DT

        time += DT
        sim.updateGUI()
        continueSim &= vehicleLeft == 0  # at least one vehicle exits sim
        continueSim &= time < 30.  # shouldn't take this long
        continueSim &= (time <= parameters['tpr'] + .1 or leadHeadway <= 1.1)
        #continueSim &= leadHeadway <= 1.4 # for better GUI

    sim.end()
    outputFile = os.path.realpath(outputFolder + '/' + str(simIndex + 1) +
                                  '.csv')
    output.write(outputFile, restart=True)
    print simIndex
    status = -1
    totaldist = 0
    while status < 1 and totaldist < 50:
        lane,lanepos,pos,angle = Sim.getVehicleState(road)
        status = 1*(lane[1]=='o' and lanepos > 5.) - 1*(lane[1]=='i' and len(lane)==4)
        if lane[1]=='o': # must be included since back of vehicle
                lanepos = lanepos + roadMap.getLength(road)
        if status==0:  # add vehicle info to the dataframe
            thisdf.add([[pos[0],pos[1],angle,VEHsize[0],VEHsize[1],lanepos]])
        Sim.moveVehicleAlong(road, dist, turn)
        totaldist += dist
        Sim.updateGUI()
        
    allcars[road] = thisdf.out()
    Sim.removeVehicle(road)
Sim.end(waitOnEnd = False)

for car in allcars.itervalues():
    car['angle'] = car['angle'] + 1.5708
#
## now use dataframes of position+angle to find collision points
#collisions = WriteFrame(['lane','lane2','begin_lp','end_lp'])
#for an in range(len(intersections)):
#    for bn in range(an):
#        print "checking "+str(an)+", "+str(bn)
#        starta,enda = intersections[an]
#        startb,endb = intersections[bn]
#        roada = combineRoad(starta,enda)
#        roadb = combineRoad(startb,endb)
#        cara = allcars[roada]
#        carb = allcars[roadb]
Esempio n. 4
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    '1o_1': (92, 101.65, 0, 101.65),
    '4o_0': (105, 108, 105, 200),
    '4o_1': (101.65, 108, 101.65, 200),
    '3o_0': (95, 92, 95, 0),
    '3o_1': (98.35, 92, 98.35, 0)
}

# which roads connect to other roads
intersections = [['1i_0', '3o_0'], ['1i_0', '2o_0'], ['1i_1', '4o_1'],
                 ['2i_0', '4o_0'], ['2i_0', '1o_0'], ['2i_1', '3o_1'],
                 ['3i_0', '2o_0'], ['3i_0', '4o_0'], ['3i_1', '1o_1'],
                 ['4i_0', '1o_0'], ['4i_0', '3o_0'], ['4i_1', '2o_1']]

roadMap = RoadMap(roads, intersections)

Sim = Simulator(roadMap, gui=GUI, delay=SIMDELAY)
Sim.createVehicle('mycar', '1i_0', 50.)

Sim.moveVehicle('mycar', '1i_1', 50.)
for k in range(20):
    exited = Sim.moveVehicleAlong('mycar', 5., '4o_1')

    carLane, carLanePos, carPos, carAngle = Sim.getVehicleState('mycar')
    print carPos

    manual_escape = Sim.updateGUI(allowPause=True)
    if exited or manual_escape:
        break

Sim.end()
Esempio n. 5
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            speedChange = [0,-10.,10.][int(speedChange)]/MS2KPH            
            cars.loc[carID,'speed'] = min(max(car['speed']+speedChange, 0.),60./MS2KPH)
            distance = car['speed']*DELTAT
            
            # the vehicle is about to make a transition to a new roa   
            exited = Sim.moveVehicleAlong(str(carID), distance, turn)
            if exited: # car leaving simulation
                Sim.removeVehicle(str(carID))
                cars.loc[carID,'status'] = 1
                WrongPath = WrongPath + int(route != splitRoad(car['dest'])[0])
        
        Sim.updateGUI(allowPause=True)
        ttime += 0.1

    # finish step
    Sim.end()        
    print "iteration "+str(iteration)+" : "+str(time.time()-starttime)
    print "collisions "+str(collisionCount)
    print "wrong "+str(WrongPath)
    Stats_train=Stats_train+[collisionCount,TotReward,ttime,WrongPath,float(cars.shape[0])]
    time.sleep(.2)
    iteration += 1

# save info afterwards
iteration = iteration - 1
if trainingTable:
    np.save('qtable.npy',QTable)
Stats_train.loc['Collision'] = Stats_train.loc['Collision'] / Stats_train['Cars']
Stats_train.loc['Reward'] = Stats_train.loc['Reward'] / Stats_train['Cars']
Stats_train.loc['WrongPath'] = Stats_train.loc['WrongPath'] / Stats_train['Cars']
Stats_train.loc['Time'] = Stats_train.loc['Time']/iteration
Esempio n. 6
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    while status < 1 and totaldist < 50:
        lane, lanepos, pos, angle = Sim.getVehicleState(road)
        status = 1 * (lane[1] == 'o' and
                      lanepos > 5.) - 1 * (lane[1] == 'i' and len(lane) == 4)
        if lane[1] == 'o':  # must be included since back of vehicle
            lanepos = lanepos + roadMap.getLength(road)
        if status == 0:  # add vehicle info to the dataframe
            thisdf.add(
                [[pos[0], pos[1], angle, VEHsize[0], VEHsize[1], lanepos]])
        Sim.moveVehicleAlong(road, dist, turn)
        totaldist += dist
        Sim.updateGUI()

    allcars[road] = thisdf.out()
    Sim.removeVehicle(road)
Sim.end(waitOnEnd=False)

for car in allcars.itervalues():
    car['angle'] = car['angle'] + 1.5708
#
## now use dataframes of position+angle to find collision points
#collisions = WriteFrame(['lane','lane2','begin_lp','end_lp'])
#for an in range(len(intersections)):
#    for bn in range(an):
#        print "checking "+str(an)+", "+str(bn)
#        starta,enda = intersections[an]
#        startb,endb = intersections[bn]
#        roada = combineRoad(starta,enda)
#        roadb = combineRoad(startb,endb)
#        cara = allcars[roada]
#        carb = allcars[roadb]